#YJ_CreatFkRig（）//YJ_GetBaseJntList(StarBaseJnt,EndBaseJnt)/YJ_DuplicateJntChain(AllBaseJntList,Suf)
###YJ_DuplicateJntChain(AllBaseJntList,Suf) YJ_SetParentConstraint(newJntList,AllBaseJntList)
#YJ_Creat_IK(YJ_IK_Start_Joint,YJ_IK_End_Joint,IK_solver)
##StarBaseJnt='L_foot_skin'
#EndBaseJnt='L_toeEnd_skin'
#footanim='L_foot_ik_anim',footanim[0:1]
#HeelPvJnt='L_heel_skin'
#Ctrl=footanim,footIkHandle='L_upLeg_ik_IKHandle'

def YJ_CreateFootRig(StarBaseJnt,EndBaseJnt,HeelPvJnt,footanim,footIkHandle):
    parent(HeelPvJnt,w=1)
    AllBaseJntList=YJ_GetBaseJntList(StarBaseJnt,EndBaseJnt)
    newJntList=YJ_DuplicateJntChain(AllBaseJntList,'ik')
    YJ_SetParentConstraint(newJntList,AllBaseJntList)
    FootIkJnt=newJntList[0]
    ToeIkJnt=newJntList[1]
    ToeEndIkJnt=newJntList[2]
    InsidePiv,OutsidePiv,ToePiv,BallPiv,HeelPiv,WigglePiv=YJ_CreatEmGrp(FootIkJnt,ToeIkJnt,ToeEndIkJnt,HeelPvJnt)
    FootSCIkHandle=YJ_Creat_IK(FootIkJnt,ToeIkJnt,'ikSCsolver')
    ToeSCIkHandle=YJ_Creat_IK(ToeIkJnt,ToeEndIkJnt,'ikSCsolver')
    YJ_ParentFootIkHandle(HeelPiv,BallPiv,WigglePiv,footIkHandle,FootSCIkHandle,ToeSCIkHandle,footanim)
    YJ_AddFootAnimAttr(footanim)
    footExpr=YJ_AddFootExpr(footanim,HeelPiv,BallPiv,ToePiv,OutsidePiv,InsidePiv,WigglePiv)
def YJ_CreatEmGrp(FootIkJnt,ToeIkJnt,ToeEndIkJnt,HeelPvJnt):

    ToeLength=getAttr(ToeEndIkJnt+'.tx')
    SideOff=ToeLength/2

    InsidePiv=group( em=1, n=FootIkJnt[0:2]+'InsidePiv' )
    YJ_MoveOrRotateToTargetWd(ToeIkJnt,InsidePiv,'t','t')
    move(-1*SideOff,InsidePiv,x=1,r=1,os=1,wd=1)

    OutsidePiv=group( em=1, n=FootIkJnt[0:2]+'OutsidePiv' )
    YJ_MoveOrRotateToTargetWd(ToeIkJnt,OutsidePiv,'t','t')
    move(SideOff,OutsidePiv,x=1,r=1,os=1,wd=1)

    ToePiv=group( em=1, n=FootIkJnt[0:2]+'ToePiv' )
    YJ_MoveOrRotateToTargetWd(ToeEndIkJnt,ToePiv,'t','t')

    BallPiv=group( em=1, n=FootIkJnt[0:2]+'BallPiv' )
    YJ_MoveOrRotateToTargetWd(ToeIkJnt,BallPiv,'t','t')

    HeelPiv=group( em=1, n=FootIkJnt[0:2]+'HeelPiv' )
    YJ_MoveOrRotateToTargetWd(HeelPvJnt,HeelPiv,'t','t')

    WigglePiv=group( em=1, n=FootIkJnt[0:2]+'WigglePiv' )
    YJ_MoveOrRotateToTargetWd(ToeIkJnt,WigglePiv,'t','t')

    parent(BallPiv,InsidePiv)
    parent(InsidePiv,OutsidePiv)
    parent(OutsidePiv,ToePiv)
    parent(ToePiv,HeelPiv)
    parent(WigglePiv,InsidePiv)
    delete(HeelPvJnt)
    return InsidePiv,OutsidePiv,ToePiv,BallPiv,HeelPiv,WigglePiv


def YJ_AddFootAnimAttr(Ctrl):
    AttrList1=['roll','toelift','toestraight','lean','side','toespin','toewiggle']
    YJ_AddAttr(Ctrl,AttrList1,0)
def YJ_AddAttr(CtrL,AttrList,Atype):
    while Atype == 0:
        for i in AttrList:
            addAttr( CtrL,longName=i, attributeType='double',k=1)
        break
    while Atype == 1:
        for i in AttrList:
            addAttr( CtrL,longName=i, attributeType='double',min=0,max=1,dv=0,k=1)

def YJ_ParentFootIkHandle(HeelPiv,BallPiv,WigglePiv,footIkHandle,FootSCIkHandle,ToeSCIkHandle,footanim):
    parent(footIkHandle,BallPiv)
    parent(ToeSCIkHandle,WigglePiv)
    parent(FootSCIkHandle,WigglePiv)
    parent(HeelPiv,footanim)


def YJ_AddFootExpr(footanim,HeelPiv,BallPiv,ToePiv,OutsidePiv,InsidePiv,WigglePiv):
    string='$roll ='+ footanim+'.roll;\n$toeLift = '+footanim+'.toelift;\n$toeStraight ='+ footanim+'.toestraight;\n$lean = '+footanim+'.lean;\n$side ='\
               +footanim+'.side;\n$spin =' +footanim+'.toespin;\n$wiggle ='+ footanim+'.toewiggle;\n'+HeelPiv+'.rotateX = min($roll,0);\n'\
               +BallPiv+'.rotateX = (linstep(0,$toeLift,$roll)) *(1-(linstep($toeLift,$toeStraight,$roll))) * $roll;\n'\
               +ToePiv+'.rotateX = linstep($toeLift, $toeStraight, $roll) * $roll;\n'+BallPiv+'.rotateY = $lean;\n'\
               +OutsidePiv+'.rotateZ = min($side,0);\n'+InsidePiv+'.rotateZ= max(0,$side);\n'\
               +ToePiv+'.rotateY = $spin;\n'+WigglePiv+'.rotateX = $wiggle;'
    exprName=footanim+'_expr'
    expression( s=string,n=exprName)
    return exprName